fix(behavior_path_planner): fix utility function (autowarefoundation#434

) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
satoshi-ota · May 31, 2022 · 43c009a · 43c009a
1 parent dbc1d9c
commit 43c009a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp
@@ -307,7 +307,7 @@ bool lerpByTimeStamp(const PredictedPath & path, const double t_query, Pose * le
     return false;
   }
 
-  const double t_final = time_step.seconds() * static_cast<double>(path.path.size());
+  const double t_final = time_step.seconds() * static_cast<double>(path.path.size() - 1);
   if (t_query > t_final) {
     RCLCPP_DEBUG_STREAM(
       rclcpp::get_logger("behavior_path_planner").get_child("utilities"),